This paper investigates the problem of predictor-based pose control framework for nonlinear systems on $SE(3)$ subject to actuator delay and saturation. First, the exact predictive solution of the saturated pose-closed-loop system on $SO(3)\times {\mathbb{R}}^3$ is proposed, based on which the predictor-based pose control law is established. Second, the integral predictive solution of the saturated pose-closed-loop system and the corresponding predictor-based control law are designed on $SE(3)$ directly. Compared with the unmanned vehicles control on Euclidean space, the proposed control schemes not only guarantee that the predictor-based control laws are designed on nonlinear manifolds, but also ensure that the designed speed inputs satisfy the saturation constraint. Finally, the numerical simulations are provided to illustrate the effectiveness of the proposed theoretical results.

本文研究了基于预测器的非线性系统的位姿控制框架问题 $秒乙(3)$受致动器延迟和饱和的影响。一、饱和位姿闭环系统的精确预测解$秒哦(3)\times {\mathbb{电阻}}^3$提出了基于预测器的姿态控制律。其次，设计了饱和位姿闭环系统的积分预测解和相应的基于预测器的控制律$秒乙(3)$直接地。与欧几里德空间上的无人驾驶车辆控制相比，所提出的控制方案不仅保证了基于预测器的控制律设计在非线性流形上，而且保证了设计的速度输入满足饱和约束。最后，提供了数值模拟来说明所提出的理论结果的有效性。